btManifoldPoint.h

/*Bullet Continuous Collision Detection and Physics LibraryCopyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/This software is provided 'as-is', without any express or implied warranty.In no event will the authors be held liable for any damages arising from the use of this software.Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.3. This notice may not be removed or altered from any source distribution.*/#ifndef MANIFOLD_CONTACT_POINT_H#define MANIFOLD_CONTACT_POINT_H#include "../../LinearMath/btVector3.h"#include "../../LinearMath/btTransformUtil.h"/// ManifoldContactPoint collects and maintains persistent contactpoints./// used to improve stability and performance of rigidbody dynamics response.00028class btManifoldPoint
{
public:
btManifoldPoint()
:m_userPersistentData(0),
m_lifeTime(0)
{
}
btManifoldPoint( constbtVector3 &pointA, constbtVector3 &pointB,
constbtVector3 &normal,
btScalar distance ) :
m_localPointA( pointA ),
m_localPointB( pointB ),
m_normalWorldOnB( normal ),
m_distance1( distance ),
m_combinedFriction(btScalar(0.)),
m_combinedRestitution(btScalar(0.)),
m_userPersistentData(0),
m_lifeTime(0)
{
}
btVector3 m_localPointA;
btVector3 m_localPointB;
btVector3 m_positionWorldOnB; ///m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity00059btVector3m_positionWorldOnA;
btVector3 m_normalWorldOnB;
btScalar m_distance1;
btScalar m_combinedFriction;
btScalar m_combinedRestitution;
mutablevoid* m_userPersistentData;
int m_lifeTime;//lifetime of the contactpoint in frames
btScalar getDistance() const{
return m_distance1;
}
int getLifeTime() const{
return m_lifeTime;
}
constbtVector3& getPositionWorldOnA() const {
returnm_positionWorldOnA;
// return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
}
constbtVector3& getPositionWorldOnB() const{
return m_positionWorldOnB;
}
void setDistance(btScalar dist)
{
m_distance1 = dist;
}
};
#endif //MANIFOLD_CONTACT_POINT_H